GCC Code Coverage Report

Directory: ./
File: bindings/python/crocoddyl/multibody/residuals/com-position-double.cpp
Date: 2025-04-18 16:41:15
Exec Total Coverage
Lines: 0 16 0.0%
Branches: 0 54 0.0%
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1 ///////////////////////////////////////////////////////////////////////////////
2 // BSD 3-Clause License
3 //
4 // Copyright (C) 2021-2025, University of Edinburgh, Heriot-Watt University
5 // Copyright note valid unless otherwise stated in individual files.
6 // All rights reserved.
7 ///////////////////////////////////////////////////////////////////////////////
8
9 // Auto-generated file for double
10 #include "crocoddyl/multibody/residuals/com-position.hpp"
11
12 #include "python/crocoddyl/multibody/multibody.hpp"
13
14 namespace crocoddyl {
15 namespace python {
16
17 template <typename Model>
18 struct ResidualModelCoMPositionVisitor
19 : public bp::def_visitor<ResidualModelCoMPositionVisitor<Model>> {
20 typedef typename Model::ResidualDataAbstract Data;
21 typedef typename Model::Base ModelBase;
22 typedef typename Model::StateMultibody State;
23 typedef typename Model::VectorXs VectorXs;
24 typedef typename Model::Vector3s Vector3s;
25 template <class PyClass>
26 ✗ void visit(PyClass& cl) const {
27 ✗ cl.def(bp::init<std::shared_ptr<State>, Vector3s>(
28 bp::args("self", "state", "cref"),
29 "Initialize the CoM position residual model.\n\n"
30 "The default nu is obtained from state.nv.\n"
31 ":param state: state of the multibody system\n"
32 ":param cref: reference CoM position"))
33 ✗ .def(
34 "calc",
35 static_cast<void (Model::*)(
36 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
37 const Eigen::Ref<const VectorXs>&)>(&Model::calc),
38 bp::args("self", "data", "x", "u"),
39 "Compute the CoM position residual.\n\n"
40 ":param data: residual data\n"
41 ":param x: state point (dim. state.nx)\n"
42 ":param u: control input (dim. nu)")
43 ✗ .def(
44 "calc",
45 static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&,
46 const Eigen::Ref<const VectorXs>&)>(
47 &ModelBase::calc),
48 bp::args("self", "data", "x"))
49 ✗ .def(
50 "calcDiff",
51 static_cast<void (Model::*)(
52 const std::shared_ptr<Data>&, const Eigen::Ref<const VectorXs>&,
53 const Eigen::Ref<const VectorXs>&)>(&Model::calcDiff),
54 bp::args("self", "data", "x", "u"),
55 "Compute the Jacobians of the CoM position residual.\n\n"
56 "It assumes that calc has been run first.\n"
57 ":param data: action data\n"
58 ":param x: state point (dim. state.nx)\n"
59 ":param u: control input (dim. nu)")
60 ✗ .def(
61 "calcDiff",
62 static_cast<void (ModelBase::*)(const std::shared_ptr<Data>&,
63 const Eigen::Ref<const VectorXs>&)>(
64 &ModelBase::calcDiff),
65 bp::args("self", "data", "x"))
66 ✗ .def("createData", &Model::createData,
67 ✗ bp::with_custodian_and_ward_postcall<0, 2>(),
68 bp::args("self", "data"),
69 "Create the CoM position residual data.\n\n"
70 "Each residual model has its own data that needs to be allocated. "
71 "This function\n"
72 "returns the allocated data for a predefined residual.\n"
73 ":param data: shared data\n"
74 ":return residual data.")
75 ✗ .add_property("reference",
76 bp::make_function(&Model::get_reference,
77 ✗ bp::return_internal_reference<>()),
78 &Model::set_reference, "reference CoM position");
79 }
80 };
81
82 template <typename Data>
83 struct ResidualDataCoMPositionVisitor
84 : public bp::def_visitor<ResidualDataCoMPositionVisitor<Data>> {
85 template <class PyClass>
86 ✗ void visit(PyClass& cl) const {
87 ✗ cl.add_property(
88 "pinocchio",
89 ✗ bp::make_getter(&Data::pinocchio, bp::return_internal_reference<>()),
90 "pinocchio data");
91 }
92 };
93
94 #define CROCODDYL_RESIDUAL_MODEL_COM_POSITION_PYTHON_BINDINGS(Scalar) \
95 typedef ResidualModelCoMPositionTpl<Scalar> Model; \
96 typedef ResidualModelAbstractTpl<Scalar> ModelBase; \
97 typedef typename Model::StateMultibody State; \
98 typedef typename Model::Vector3s Vector3s; \
99 bp::register_ptr_to_python<std::shared_ptr<Model>>(); \
100 bp::class_<Model, bp::bases<ModelBase>>( \
101 "ResidualModelCoMPosition", \
102 "This residual function defines the CoM tracking as r = c - cref, with " \
103 "c and cref as the current and reference CoM position, respectively.", \
104 bp::init<std::shared_ptr<State>, Vector3s, std::size_t>( \
105 bp::args("self", "state", "cref", "nu"), \
106 "Initialize the CoM position residual model.\n\n" \
107 ":param state: state of the multibody system\n" \
108 ":param cref: reference CoM position\n" \
109 ":param nu: dimension of control vector")) \
110 .def(ResidualModelCoMPositionVisitor<Model>()) \
111 .def(CastVisitor<Model>()) \
112 .def(PrintableVisitor<Model>()) \
113 .def(CopyableVisitor<Model>());
114
115 #define CROCODDYL_RESIDUAL_DATA_COM_POSITION_PYTHON_BINDINGS(Scalar) \
116 typedef ResidualDataCoMPositionTpl<Scalar> Data; \
117 typedef ResidualDataAbstractTpl<Scalar> DataBase; \
118 typedef ResidualModelCoMPositionTpl<Scalar> Model; \
119 typedef Model::DataCollectorAbstract DataCollector; \
120 bp::register_ptr_to_python<std::shared_ptr<Data>>(); \
121 bp::class_<Data, bp::bases<DataBase>>( \
122 "ResidualDataCoMPosition", "Data for CoM position residual.\n\n", \
123 bp::init<Model*, DataCollector*>( \
124 bp::args("self", "model", "data"), \
125 "Create CoM position residual data.\n\n" \
126 ":param model: CoM position residual model\n" \
127 ":param data: shared data")[bp::with_custodian_and_ward< \
128 1, 2, bp::with_custodian_and_ward<1, 3>>()]) \
129 .def(ResidualDataCoMPositionVisitor<Data>()) \
130 .def(CopyableVisitor<Data>());
131
132 ✗ void exposeResidualCoMPosition() {
133 ✗ CROCODDYL_RESIDUAL_MODEL_COM_POSITION_PYTHON_BINDINGS(double)
134 ✗ CROCODDYL_RESIDUAL_DATA_COM_POSITION_PYTHON_BINDINGS(double)
135 }
136
137 } // namespace python
138 } // namespace crocoddyl
139